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arXiv 2023年

作者： Berto, Letícia Costa, Paula Simões, Alexandre Gudwin, Ricardo Colombini, Esther Laboratory of Robotics and Cognitive Systems Institute of Computing University of Campinas Brazil Dept. of Computer Engineering and Industrial Automation School of Electrical and Computer Engineering University of Campinas Brazil Dept. of Control and Automation Engineering Institute of Science and Technology São Paulo State University Sorocaba Brazil University of Campinas Brazil

Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action’s perceived pleasure, which is susceptible to changes over time. This makes decision-making more complex, requiring learning to balance needs and preferences according to the context. To understand how this process works and enable the development of robots with a motivational-based learning model, we computationally model a motivation theory proposed by Hull. In this model, the agent (an abstraction of a mobile robot) is motivated to keep itself in a state of homeostasis. We added hedonic dimensions to see how preferences affect decision-making, and we employed reinforcement learning to train our motivated-based agents. We run three agents with energy decay rates representing different metabolisms in two different environments to see the impact on their strategy, movement, and behavior. The results show that the agent learned better strategies in the environment that enables choices more adequate according to its metabolism. The use of pleasure in the motivational mechanism significantly impacted behavior learning, mainly for slow metabolism agents. When survival is at risk, the agent ignores pleasure and equilibrium, hinting at how to behave in harsh scenarios. Copyright © 2023, The Authors. All rights reserved.

关键词： Metabolism

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Data-Driven Deep Learning Based Feedback Linearization of Systems with Unknown Dynamics

arXiv

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arXiv 2023年

作者： Goswami, Raktim Gautam Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Elec. & Comp. Engg. Dept. Tandon School of Engineering Polytechnic Institute New York University BrooklynNY11201 United States

A methodology is developed to learn a feedback linearization (i.e., nonlinear change of coordinates and input transformation) using a data-driven approach for a single input control-affine nonlinear system with unknown dynamics. We employ deep neural networks to learn the feedback law (input transformation) in conjunction with an extension of invertible neural networks to learn the nonlinear change of coordinates (state transformation). We also learn the matrices A and B of the transformed linear system and define loss terms to ensure controllability of the pair (A, B). The efficacy of our approach is demonstrated by simulations on several nonlinear systems. Furthermore, we show that state feedback controllers designed using the feedback linearized system yield expected closed-loop behavior when applied to the original nonlinear system, further demonstrating validity of the learned feedback linearization. Copyright © 2023, The Authors. All rights reserved.

关键词： Feedback linearization

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface

Optical Evanescent Field for Direct Observation of Sub-100nm...

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robotics, engineering, Science, and Technology (RESTCON), International Conference on

作者： Panart Khajornrungruang Thitipat Permpatdechakul Keisuke Suzuki Aran Blattler Yutaka Terayama Daiki Goto Pipat Phaisalpanumas Natthaphon Bun-Athuek Amornphun Phunopas Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Mechanical Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Mechanical Information Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Mechanical Science and Technology Course Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Industiral Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes.

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Modelling mobile robot navigation in 3D environments: Camera-based stairs recognition in Gazebo 3

Modelling mobile robot navigation in 3D environments: Camera...

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3rd Moscow Workshop on Electronic and Networking Technologies, MWENT 2022

作者： Mustafin, Maksim Tsoy, Tatyana Martinez-Garcia, Edgar A. Meshcheryakov, Roman Magid, Evgeni Kazan Federal University Intelligent Robotics Department Kazan Russia Autonomous University of Ciudad Juarez Industrial Engineering and Manufacturing Dept. Chihuahua Mexico V. A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Cyber-physical Lab Moscow Russia HSE University Moscow Russia

ISBN: (纸本)9781665496650

The task of sensory-based autonomous navigation of mobile robots requires data fusion from multiple sources in order to properly detect and recognize environmental obstacles. One of important issues mobile robots deal in a typical multi-level indoor environment is a stair well detection and negotiation. This paper presents ROS-based stairs detection implementation using onboard cameras of the Russian mobile crawler robot Servosila Engineer. Virtual experiments were performed in Gazebo environment with a single camera and a stereo camera. © 2022 IEEE.

关键词： Computer vision

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DROPO: Sim-to-Real Transfer with Offline Domain Randomization

arXiv

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arXiv 2022年

作者： Tiboni, Gabriele Arndt, Karol Kyrki, Ville Dept. of Control and Computer Engineering Politecnico di Torino Francesco Ferrucci Street 112 Torino10141 Italy Intelligent Robotics Group Dept. of Electrical Engineering and Automation Aalto University Maarintie 8 Espoo02150 Finland

In recent years, domain randomization over dynamics parameters has gained a lot of traction as a method for sim-to-real transfer of reinforcement learning policies in robotic manipulation;however, finding optimal randomization distributions can be difficult. In this paper, we introduce DROPO, a novel method for estimating domain randomization distributions for safe sim-to-real transfer. Unlike prior work, DROPO only requires a limited, precollected offline dataset of trajectories, and explicitly models parameter uncertainty to match real data using a likelihood-based approach. We demonstrate that DROPO is capable of recovering dynamic parameter distributions in simulation and finding a distribution capable of compensating for an unmodeled phenomenon. We also evaluate the method in two zero-shot sim-to-real transfer scenarios, showing successful domain transfer and improved performance over prior methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Reinforcement learning

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Optical Tactile Sensing for Aerial Multi-Contact Interaction: Design, Integration, and Evaluation

arXiv

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arXiv 2024年

作者： Aucone, Emanuele Sferrazza, Carmelo Gregor, Manuel D'Andrea, Raffaello Mintchev, Stefano The Environmental Robotics Laboratory Dept. of Environmental Systems Science ETH Zürich Zürich8092 Switzerland Birmensdorf8903 Switzerland The Robot Learning Lab UC Berkeley BerkeleyCA94704 United States The Institute for Dynamic Systems and Control Dept. of Mechanical and Process Engineering ETH Zürich Zürich8092 Switzerland

Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed multi-contact sensing. Designed to be easily mounted at the bottom of a drone, we propose an optical tactile sensor that features a large and curved soft sensing surface, a hollow structure and a new illumination system. Even when spaced only 2 cm apart, multiple contacts can be detected simultaneously using our software pipeline, which provides real-world quantities of 3D contact locations (mm) and 3D force vectors (N), with an accuracy of 1.5 mm and 0.17 N respectively. We demonstrate the sensor’s applicability and reliability onboard and in real-time with two demos related to i) the estimation of the compliance of different perches and subsequent re-alignment and landing on the stiffer one, and ii) the mapping of sparse obstacles. The implementation of our distributed tactile sensor represents a significant step towards attaining the full potential of drones as versatile robots capable of interacting with and navigating within complex environments. Copyright © 2024, The Authors. All rights reserved.

关键词： Drones

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An optimization-based algorithm for simultaneous shaping of poles and zeros for non-collocated vibration suppression

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IFAC-PapersOnLine 2022年第16期55卷 394-399页

作者： Adrian Saldanha Haik Silm Wim Michiels Tomáš Vyhlídal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

This article presents a control design method for simultaneous shaping of the poles and zeros of linear time-invariant systems, motivated by the application of non-collocated vibration suppression to flexible multi-body systems. An entire suppression of vibrations at a target mass for a given excitation frequencies can be recast into the problem of assigning zeros of the transfer function from the excitation force to the target mass' position. The design requirement of achieving sufficient damping in the closed loop system combined with suppressing vibrations at the target, leads to the minimization of the spectral abscissa function of the closed loop system as a function of the controller parameters, subject to zero location constraints. These constraints exhibit polynomial dependence on the controller parameters. We present two approaches to solve the optimization problem which are both based on constraint elimination followed by application of an algorithm for non-smooth unconstrained optimization. The design approach is applicable to delay-free models as well as time-delay models of retarded and neutral type. Simulations results illustrate its applicability to a spring-mass-damper system.

关键词： vibration suppression zero placement time-delay systems spectral optimization

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Sense-Assess-eXplain (SAX): Building Trust in Autonomous Vehicles in Challenging Real-World Driving Scenarios 31

Sense-Assess-eXplain (SAX): Building Trust in Autonomous Veh...

引用

31st IEEE Intelligent Vehicles Symposium, IV 2020

作者： Gadd, Matthew De Martini, Daniele Marchegiani, Letizia Newman, Paul Kunze, Lars Oxford Robotics Institute University of Oxford Dept. Engineering Science United Kingdom Automation and Control Aalborg University Dept. Electronic Systems Denmark

This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for large-scale deployments of autonomous systems. To this end, we present how we build robots that (1) can robustly sense and interpret their environment using traditional as well as unconventional sensors;(2) can assess their own capabilities;and (3), vitally in the purpose of assurance and trust, can provide causal explanations of their interpretations and assessments. As it is essential that robots are safe and trusted, we design, develop, and demonstrate fundamental technologies in real-world applications to overcome critical barriers which impede the current deployment of robots in economically and socially important areas. Finally, we describe ongoing work in the collection of an unusual, rare, and highly valuable dataset. © 2020 IEEE.

关键词： Autonomous vehicles

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Tracking of Multiple Moving Objects using DTW Algorithm

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Transactions of the Korean Institute of Electrical Engineers 2019年第5期68卷 670-677页

作者： Wang, Kyo Sun Joo, Yung Hoon Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

– In this paper, we propose a method to track multiple moving objects using DTW algorithm for images received from CCTV Cameras. The proposed method first extracts a moving object using GMM background modeling to extract a moving object from the input image, and then removes and extends the shadow and noise of the extracted moving object using morphology. The moving object thus obtained is recognized by using the labeling method, and the labeling is merged using the morphology to identify the problem that the recognized moving object is divided into several labels. Then, when the recognized moving object is detected in the designated ROI, the HSV and RGB values of the moving object are extracted and the extracted data is sequentially stored in the DTW data base. Next, we propose a method of classifying the moving object as similar to the DTW by judging the similarity between the stored DTW DB and the moving object. The moving objects classified by the proposed method are continuously compared and tracked. If it is judged that the moving objects to be tracked are overlapped, it is possible to compare the remaining objects. It also suggests how tracking can be done if the moving object is unwrapped. Finally, the applicability of the proposed method is verified through various experiments. 670 Copyright The Korean Institute of Electrical Engineers

关键词： Morphology

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Simulation and control of Inverted Pendulum System Dynamics over control Area Network using TrueTime 8

Simulation and Control of Inverted Pendulum System Dynamics ...

引用

8th IEEE R10 Humanitarian Technology Conference, R10-HTC 2020

作者： Abdulrab, Hakim Qaid Abdullah Hussin, Fawnizu Azmadi Motea, Zakarya Zaidi, Rose Neezar Rose Universiti Teknologi Petronas Dept. of Electrical and Electronic Engineering Perak Malaysia Universiti Teknologi Malaysia Dept. of Control and Mechatronics Engineering Johor Malaysia Dept. of Mechatronics and Robotics Engineering Faculty of Engineering and IT Taiz University Taiz Yemen

ISBN: (纸本)9781728111100

Inverted pendulum is one the most popular systems that has been used and studied in the field of control engineering. Even its simplest form is an under-actuated system and highly unstable with high non-linear dynamics. Therefore, it is a challenging control task and have been referred to as benchmark for testing control algorithms. This paper discusses modelling and control of inverted pendulum using Linear Quadratic Regulator (LQR) controller. Then, the same model and controller are inserted to a real time Simulink model for the purpose of analysing the scheduling of tasks and testing control area network (CAN) performance. This is done by utilizing True Time toolbox. In this paper both nonlinear and linearized models were analysed. Four sensors, an actuator and a controller are used in analysing the response of the inverted pendulum. Different scheduling techniques and the response of the system after changing the period of one of the sensors in the system were also investigated. By changing the period of one sensor and maintaining the other 3 sensors, the system became unstable as discussed throughout the paper. © 2020 IEEE.

关键词： Inverted pendulum

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